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Development of intuitive user interface of a dexterous forceps with wrist joint for minimally-invasive surgery (MIS) is important for reducing the surgeon's confusion and fatigue. In this paper, a wearable robotic forceps manipulator is proposed. By measuring the wrist attitude of the surgeon by a motion sensor and driving the forceps tip by actuators, intuitive operation is realized, compared with...
Minimally Invasive Surgery (MIS) is less invasive and creating fewer post-operative complications compared with conventional surgery. This results in shorter recover times and, sometimes, outpatient treatment replaces for previously lengthier procedures. So MIS is the latest trend in surgery. However, MIS is usually associated with a limited view of the surgical view area and is difficult to handle...
In recent years, minimally-invasive surgical systems based on flexible robotic manipulators have met with success. One major advantage of the flexible manipulator approach is its superior safety characteristics as compared to rigid manipulators. However, their soft compliant structure, in combination with internal friction, results in poor position and force regulation and has limited their use to...
Laparoscopic surgery and the market for its robotic devices keep growing since postoperative complications are fewer and patients recover quicker than conventional laparotomy wounds, even though robotic surgery is 5–6 times more expensive than traditional laparotomy. We are developing surgical robot system with minimally invasive robotic surgical tools. And to use those tools in surgery, the mechanism...
Recent development methods for surgical robots have an inherent problem. The user-friendliness of operating robot cannot be revealed until completion of the robot. To assist the design of a surgical robot that is user-friendly in terms of surgeon's operation, we propose a system that considers the operation manner of surgeon during the design phase of the robot. This system includes the following...
With the advancement in the knowledge of surgical procedures and cell micromanipulation, there is a demand for a handheld instrument to perform micromanipulation. Hence, this paper presents a 3-DOF handheld mechanism for micromanipulation driven by three piezoelectric actuators. Flexure-based joints are utilized because of its advantages like the nonexistence of backlash and assembly errors. However,...
Human-robot control interfaces have received increased attention during the last decades. These interfaces increasingly use signals coming directly from humans since there is a strong necessity for simple and natural control interfaces. In this paper, electromyographic (EMG) signals from the muscles of the human upper limb are used as the control interface between the user and a robot arm. A switching...
Robot-assisted minimally invasive surgery is new and promising applications of robotics, which can enhance the dexterity, provide high accuracy and can't be affected by the fatigue, tremor and so on. In this paper, a novel master-slave robot-assisted minimally invasive surgery system MicroHand A is introduced. The master-slave control system for MicroHand has been designed, which is modular and consists...
Robots are expected to come in direct contact with human at care facilities and/or homes soon. Motivated by the application of holding and/or transferring a patient applying a robot, this paper introduces the dynamic model, static analysis and control algorithm for nonprehensile manipulation of a two-rigid-link object applying two cooperative arms. Newton-Euler equations are applied for formulating...
For advanced intrauterine fetal surgery, we have developed novel devices as “new hand” and “new eye”. As new hands, we developed a miniature bending manipulator with exchangeable distal-end effector of laser photocoagulation and forceps for safe approach and optimal procedure of intrauterine myelomeningocele repair and twin-to-twin transfusion syndrome. The manipulator performed high bending accuracy...
The objective of this study is to design a robot system to assist the rehabilitation of patients so that they can afterwards do various daily activities. It is difficult to determine the desirable posture of a 9-DOFs exoskeleton manipulator in such a system and each joint control design as well. In this paper, we resolve the difficulties by mapping the kinematics of a human arm to that of the manipulator...
This paper proposes a new planar robotic manipulator using stackable 4-BAR mechanisms for various applications such as a manipulator of surgical robot and a manipulator of field robot. The proposed manipulator has an advantage that all driving actuators can be separated from the mechanical mechanism, in other words, we are able to separate all electrical components such as electrical actuators and...
In this paper, we investigate the enhanced ability of manipulation with the newly developed Personal Mobility and Manipulation Appliance (PerMMA). PerMMA is a new assistive device that integrates bimanual manipulation with smart mobility to assist people with severe physical disabilities and enhance their quality of lives. Different from the fixed mounting method used in most existing systems, a novel...
In aging societies, there is a strong demand for robotics to tackle problems caused by the aging population. Patient transfer, such as lifting and moving a bedridden patient from a bed to a wheelchair and back, is one of the most physically challenging tasks in nursing care, the burden of which should be reduced by the introduction of robot technologies. We have developed a new prototype robot named...
We aim at experimental verification of the efficiency of natural-motion path tracking (i.e. tracking speed in proportion to the determinant of the Jacobian) in comparison to constant-speed path tracking. This is done first via simulations, with a simple planar manipulator and then with a six-DOF manipulator. From the results it becomes apparent that natural-motion path tracking outperforms constant-speed...
A master-slave system has been used to operate a robot. This system is necessary to communicate human intentions to the robot. In this context, we focus on Myo-Electric (ME) potential. In many previous studies, a motor is used as an actuator, and the torque and position are estimated from the ME potential. However joint stiffness, which humans can change, is not considered. It is possible to solve...
In our current research, we are developing a robotic walker system with standing, walking and seating assistance function. Our developing system is based on a walker which is popular assistance device for aged person in normal daily life and realizes the standing and seating motion using the support pad which is actuated by the novel assistance manipulator mechanism with four parallel linkages. In...
A teleoperated minimally invasive surgical system was implemented for laparoscopic surgery. The surgical manipulator has upper and lower arms akin to a human arm and has an elbow joint as an additional DoF joint. A remote controller was developed to measure the human arm position and deliver the angle data of the human arm to the surgical manipulator by TCP/IP communication. The human elbow angle...
Port wine stain (PWS) birthmarks are congenital vascular malformations, which usually appear at birth and tend to become darker and thicker with age's growth. Vasculartargeted photodynamic therapy (PDT) is an effective approach in the treatment of PWS. However, due to the arbitrariness of manual operation and pole points existing in laser radiation, the PWS zone was always cured unevenly in clinics...
Remote center of motion (RCM) is an important concept in the kinematics for robotic minimally invasive surgery (MIS). This work focuses on the kinematic modeling of mechanism design for programmable RCM in MIS. Programmable RCM uses multiple joints coordination to maintain the isocenter of surgical tool manipulation during MIS. In this work, the kinematic task requirement is studied using a multibody...
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